摘要
Multi-robot systems can be applied to patrol a concerned environment for security purposes.According to different goals,this work reviews the existing researches in a multi-robot patrolling field from the perspectives of regular and adversarial patrolling.Regular patrolling requires robots to visit important locations as frequently as possible and a series of deterministic strategies are proposed,while adversarial one focuses on unpredictable robots’moving patterns to maximize adversary detection probability.Under each category,a systematic survey is done including problem statements and modeling,patrolling objectives and evaluation criteria,and representative patrolling strategies and approaches.Existing problems and open questions are presented accordingly.
Multi-robot systems can be applied to patrol a concerned environment for security purposes. According to different goals, this work reviews the existing researches in a multi-robot patrolling field from the perspectives of regular and adversarial patrolling. Regular patrolling requires robots to visit important locations as frequently as possible and a series of deterministic strategies are proposed, while adversarial one focuses on unpredictable robots’ moving patterns to maximize adversary detection probability. Under each category, a systematic survey is done including problem statements and modeling, patrolling objectives and evaluation criteria, and representative patrolling strategies and approaches. Existing problems and open questions are presented accordingly.
基金
supported in part by the International Collaborative Project of the Shanghai Committee of Science and Technology(16510711100)
National Natural Science Foundation of China(61603090,61806051)
the Fundamental Research Funds for the Central Universities(2232017D-08,2232017D-13)
Shanghai Sailing Program(17YF1426100)
by FDCT(Fundo para o Desenvolvimento das Ciencias e da Tecnologia)(119/2014/A3)
